8

Copying, Pasting, and Mirroring J oi nt Parameters (HD Solver) 477
To a ss ign Chil d->Par ent pr ecedence to al l obj ects in
a kinematic chain:
1.
Select all objects in an HD IK chain.
2. Open the Object Parameters rollout in the
Hierarchy panel.
3. Click Child>Parent.
To a ss ign Par ent->Child pr ecedence to al l obj ects in
a kinematic chain:
1.
Select all objects in the kinematic chain.
2. Open the Object Parameters rollout in the
Hierarchy panel.
3. Click Parent->Child.
Toresetthedefaultjointprecedence:
1.
Select all objects in the kinematic chain.
2. Open the Object Parameters rollout in the
Hierarchy panel.
3. Set the value in the Precedence field to 0.
Inter face
Three controls set precedence:
Precedence—Manually assigns precedence values
to any object in the IK chain. High precedence
values are calculated before low precedence values.
Precedence va lues that are equal are ca lculated in
Child>Parent order.
Child->Parent—Automatically sets joint precedence
to decrease in value f rom child to parent. Causes
joints closest to where a force is applied (the end
effector) to move more than joints farther away
from the force.
You almost always assign Child>Parent precedence
to an entire kinematic chain.
Child>Parent behaves like the default precedence
settings but is more flexible if you want to go back
and manually change the settings.
Parent->Child—Automat ically sets joint precedence
to decrease in value from parent to child. Causes
joints closest to where a force is applied (the end
effector)tomovelessthanjointsfartherawayfrom
the force.
YoualmostalwaysassignChild>Parentprecedence
to an entire kinematic chain.
Copyi ng, Pas ting, a nd M ir r or ing
Joi nt Par a meter s (HD S ol ver )
Make a selection. > Hierarchy panel > IK > Objec t
Parameters rollout > Copying, Pasting, and Mirroring joint
parameters
Use the Copy and Paste buttons in the Object
Parameters rollout to copy and paste the joint
settings between IK controllers. You can a lso copy
joint settings from a non-IK controller to an IK
controller, but you can’t copy from an IK controller
to a non-IK controller. With an HD IK solver
hierarchy, you can p aste to a multiple select ion of
joints.
Use Mirror Paste to mirror the IK joint settings
about the X, Y, or Z axis during a Paste operation.
It consists of four buttons: one each for the X,
Y, and Z axes, and a None option t hat prevents
mirroring altogether.
You can also mir ror the IK joints using the Mirror
tool on the main toolbar.
See also
Sliding and Rotational Joints (page 2–478)
Procedure
To copy and paste joint parameters:
1.
Select an object in an inverse kinematic chain.